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XPS-RL
Universal High-
Performance
Motion Controller/Driver
User’s Manual
V1.0.x
XPS-RL Universal High-Performance Motion Controller/Driver
Warranty
Newport Corporation warrants that this product will be free from defects in material and
workmanship and will comply with Newport’s published specifications at the time of
sale for a period of one year from date of shipment. If found to be defective during the
warranty period, the product will either be repaired or replaced at Newport's option.
To exercise this warranty, write or call your local Newport office or representative, or
contact Newport headquarters in Irvine, California. You will be given prompt assistance
and return instructions. Send the product, freight prepaid, to the indicated service
facility. Repairs will be made and the instrument returned freight prepaid. Repaired
products are warranted for the remainder of the original warranty period or 90 days,
whichever comes first.
Limitation of Warranty
The above warranties do not apply to products which have been repaired or modified
without Newport’s written approval, or products subjected to unusual physical, thermal
or electrical stress, improper installation, misuse, abuse, accident or negligence in use,
storage, transportation or handling. This warranty also does not apply to fuses, batteries,
or damage from battery leakage.
THIS WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED OR
IMPLIED, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY
OR FITNESS FOR A PARTICULAR USE. NEWPORT CORPORATION SHALL
NOT BE LIABLE FOR ANY INDIRECT, SPECIAL, OR CONSEQUENTIAL
DAMAGES RESULTING FROM THE PURCHASE OR USE OF ITS PRODUCTS.
©2018 by Newport Corporation, Irvine, CA. All rights reserved.
Original instructions.
No part of this document may be reproduced or copied without the prior written
approval of Newport Corporation. This document is provided for information only, and
product specifications are subject to change without notice. Any change will be
reflected in future publishings.
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XPS-RL Universal High-Performance Motion Controller/Driver
Table of Contents
Waranty ............................................................................................................................ii
EU Declaration of Conformity ..................................................................................... xiii
Preface ........................................................................................................................... xiv
User’s Manual
1.0 Introduction ............................................................................................. 1
1.1 Scope of the Manual ......................................................................................................... 1
1.2 Definitions and Symbols .................................................................................................. 3
1.2.1 General Warning or Caution ............................................................................... 3
1.2.2 Electric Shock ..................................................................................................... 3
1.2.3 European Union CE Mark .................................................................................. 3
1.2.4 “ON” Symbol ..................................................................................................... 3
1.2.5 “OFF” Symbol .................................................................................................... 3
1.3 Warnings and Cautions ..................................................................................................... 4
1.4 General Warnings and Cautions ....................................................................................... 4
2.0 System Overview ..................................................................................... 6
2.1 Specifications ................................................................................................................... 6
2.2 Drive Options ................................................................................................................... 8
2.3 Compatible Newport Positioners and Drive Power Consumption .................................... 9
2.4 XPS Hardware Overview ................................................................................................. 9
2.5 Rear Panel Description ................................................................................................... 10
2.5.1 Axis Connectors (AXIS 1 – AXIS 4) ............................................................... 11
2.6 Ethernet Configuration ................................................................................................... 11
2.6.1 Communication Protocols ................................................................................ 12
2.6.2 Addressing ........................................................................................................ 12
2.7 Sockets, Multitasking and Multi-user Applications ........................................................ 12
2.8 Programming with TCL .................................................................................................. 13
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3.0 Getting Started ...................................................................................... 14
3.1 Unpacking and Handling ................................................................................................ 14
3.2 Inspection for Damage .................................................................................................... 14
3.3 Packing List .................................................................................................................... 14
3.4 System Setup .................................................................................................................. 14
3.4.1 Installing Driver cards ...................................................................................... 15
3.4.2 Power ON ......................................................................................................... 15
3.5 Connecting to the XPS ................................................................................................... 16
3.5.1 Straight through cables (black) ......................................................................... 16
3.5.2 Cross-over cables (gray) ................................................................................... 16
3.5.3 Direct Connection to the XPS Controller ......................................................... 17
3.5.4 Connecting the XPS to a Corporate Network using Static IP Configuration ... 20
3.5.5 Configuring the XPS for Connection to a Corporate Network Using Dynamic
IP Configuration ............................................................................................... 21
3.5.6 Recovering a lost IP configuration ................................................................... 23
3.6 Testing your XPS-PC Connection and Communication ................................................. 24
3.7 Connecting the Stages .................................................................................................... 25
3.8 Configuring the Controller ............................................................................................. 26
3.8.1 Default Configuration ....................................................................................... 27
3.8.2 Quick Configuration for Newport Positioners .................................................. 29
3.8.3 Manual Configuration for Newport Positioners ............................................... 31
3.8.4 Manual Configuration for non Newport stages ................................................ 36
3.9 System Shut-Down ......................................................................................................... 36
Software Tools
4.0 Software Tools ....................................................................................... 37
4.1 Software Tools Overview ............................................................................................... 37
4.2 Restart and Reboot.......................................................................................................... 38
4.3 Controller – Users Management ..................................................................................... 39
4.4 Controller – IP Management .......................................................................................... 40
4.5 Controller – General ....................................................................................................... 40
4.6 Controller – Terminal Configurator ................................................................................ 41
4.7 Controller – TCL to API Builder .................................................................................... 42
4.8 Controller – Firmware Update ........................................................................................ 44
4.9 System – Error file display ............................................................................................. 45
4.10 System – Last error file display ...................................................................................... 46
4.11 System – Default Configuration ..................................................................................... 47
4.12 System – Quick Configuration ....................................................................................... 48
4.13 System – Manual Configuration ..................................................................................... 49
4.14 Stage – Add, Remove or Edit Stages .............................................................................. 52
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XPS-RL Universal High-Performance Motion Controller/Driver
4.15
Stages – Create Custom Stages ....................................................................................... 55
4.16 Stages – Tuning .............................................................................................................. 56
4.16.1 Tuning – Auto-Scaling ..................................................................................... 56
4.16.2 Tuning – Auto-Tuning ...................................................................................... 57
4.17 Front Panel – Move ........................................................................................................ 60
4.18 Front Panel – Cycle ........................................................................................................ 61
4.19 Front Panel – Jog ............................................................................................................ 61
4.20 Front Panel – Spindle ..................................................................................................... 62
4.21 Front Panel – I/O Control ............................................................................................... 63
4.22 Front Panel – Device Status ............................................................................................ 64
4.22.1 Device Status – Positioner Errors ..................................................................... 64
4.22.2 Device Status – Hardware Status ...................................................................... 65
4.22.3 Device Status – Driver status ............................................................................ 65
4.23 Terminal ......................................................................................................................... 66
4.24 Data Acquisition – Easy gathering ................................................................................. 69
4.25 Data Acquisition – Easy External Gathering .................................................................. 75
4.26 Data Acquisition – Functional Tests ............................................................................... 80
4.27 Files – Gathering Files .................................................................................................... 81
4.28 Files – Trajectory Files ................................................................................................... 82
4.29 Files – TCL Scripts ......................................................................................................... 83
4.30 Files – Configuration Files ............................................................................................. 84
4.31 Files – Log Files ............................................................................................................. 85
4.32 FTP (File Transfer Protocol) Connection ....................................................................... 86
5.0 Maintenance and Service ...................................................................... 88
5.1 Enclosure Cleaning ......................................................................................................... 88
5.2 Obtaining Service ........................................................................................................... 88
5.3 Troubleshooting .............................................................................................................. 88
Motion Tutorial
6.0 XPS Architecture ................................................................................... 89
6.1 Introduction .................................................................................................................... 89
6.2 State Diagrams ................................................................................................................ 90
6.3 Motion Groups ................................................................................................................ 92
6.3.1 Specific SingleAxis Group Features ................................................................. 93
6.3.2 Specific Spindle Group Features ...................................................................... 93
6.3.3 Specific XY Group Features ............................................................................. 93
6.3.4 Specific XYZ Group Features .......................................................................... 93
6.3.5 Specific MultipleAxes Features ........................................................................ 93
6.4 Native Units .................................................................................................................... 93
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7.0 Motion ..................................................................................................... 95
7.1 Motion Profiles ............................................................................................................... 95
7.2 Home Search .................................................................................................................. 97
7.3 Referencing State .......................................................................................................... 100
7.3.1 Move on sensor events ................................................................................... 101
7.3.2 Moves of Certain Displacements .................................................................... 102
7.3.3 Position Counter Resets .................................................................................. 102
7.3.4 State Diagram ................................................................................................. 103
7.3.5 Example: MechanicalZeroAndIndexHomeSearch ......................................... 103
7.4 Move ............................................................................................................................. 103
7.5 Motion Done ................................................................................................................. 105
7.6 JOG ............................................................................................................................... 107
7.7 Master Slave ................................................................................................................. 108
7.8 Analog Tracking ........................................................................................................... 109
7.8.1 Analog Position Tracking ............................................................................... 110
7.8.2 Analog Velocity Tracking .............................................................................. 110
8.0 Trajectories .......................................................................................... 112
8.1 Line-Arc Trajectories ................................................................................................... 112
8.1.1 Trajectory Terminology .................................................................................. 112
8.1.2 Trajectory Conventions .................................................................................. 113
8.1.3 Geometric Conventions .................................................................................. 113
8.1.4 Defining Line-Arc Trajectory Elements ......................................................... 113
8.1.5 Define Lines ................................................................................................... 114
8.1.6 Define Arcs ..................................................................................................... 115
8.1.7 Trajectory File Description ............................................................................. 115
8.1.8 Trajectory File Examples ................................................................................ 115
8.1.9 Trajectory Verification and Execution ........................................................... 116
8.1.10 Examples of the Use of the Functions ............................................................ 117
8.2 Splines .......................................................................................................................... 118
8.2.1 Trajectory Terminology .................................................................................. 118
8.2.2 Trajectory Conventions .................................................................................. 118
8.2.3 Geometric Conventions .................................................................................. 118
8.2.4 Catmull-Rom Interpolating Splines ................................................................ 119
8.2.5 Trajectory Elements Arc Length Calculation ................................................. 119
8.2.6 Trajectory File Description ............................................................................. 120
8.2.7 Trajectory File Example ................................................................................. 120
8.2.8 Spline Trajectory Verification and Execution ................................................ 122
8.2.9 Examples ........................................................................................................ 123
8.3 PVT Trajectories .......................................................................................................... 123
8.3.1 Trajectory Terminology .................................................................................. 123
8.3.2 Trajectory Conventions .................................................................................. 123
8.3.3 Geometric Conventions .................................................................................. 124
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XPS-RL Universal High-Performance Motion Controller/Driver
8.3.4
PVT Interpolation ........................................................................................... 124
8.3.5 Influence of the Element Output Velocity to the Trajectory .......................... 125
8.3.6 Trajectory File Description ............................................................................. 126
8.3.7 Trajectory File Example ................................................................................. 127
8.3.8 PVT Trajectory Verification and Execution ................................................... 129
8.3.9 Example with a MultpleAxes Group .............................................................. 130
8.4 PT Trajectrories ............................................................................................................ 130
8.4.1 Trajectory Terminology .................................................................................. 130
8.4.2 Trajectory Conventions .................................................................................. 130
8.4.3 Geometric Conventions .................................................................................. 131
8.4.4 PT Interpolation .............................................................................................. 131
8.4.5 Trajectory File Description ............................................................................. 132
8.4.6 Trajectory File Example ................................................................................. 133
8.4.7 PT Trajectory Verification and Execution ...................................................... 135
8.4.8 Example of how to use PVT functions ........................................................... 135
9.0 Emergency Brake and Emergency Stop Cases ................................. 136
10.0 Compensation ...................................................................................... 139
10.1 Definitions .................................................................................................................... 139
10.2 Backlash Compensation ............................................................................................... 140
10.3 Linear Error Correction ................................................................................................ 141
10.4 Positioner Mapping....................................................................................................... 141
10.5 XY Mapping ................................................................................................................. 143
10.5.1 Multiple XY Mappings in Series .................................................................... 145
10.6 XYZ Mapping .............................................................................................................. 146
11.0 Event Triggers ..................................................................................... 152
11.1 Events ........................................................................................................................... 152
11.2 Actions .......................................................................................................................... 162
11.3 Functions ...................................................................................................................... 167
11.4 Examples ...................................................................................................................... 168
12.0 Data Gathering .................................................................................... 174
12.1 Time-Based (Internal) Data Gathering ......................................................................... 175
12.2 Event-Based (Internal) Data Gathering ........................................................................ 178
12.3 Function-Based (Internal) Data Gathering ................................................................... 180
12.4 Trigger-Based (External) Data Gathering ..................................................................... 181
13.0 Output Triggers ................................................................................... 183
13.1 Triggers on Line-Arc Trajectories ................................................................................ 183
13.2 Triggers on PVT Trajectories ....................................................................................... 185
13.3 Triggers on PT Trajectories .......................................................................................... 186
13.4 Distance, Time Spaced Pulses or AquadB Position Compare ...................................... 187
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XPS-RL Universal High-Performance Motion Controller/Driver
13.4.1 Even Distance Spaced Pulses Position Compare ............................................ 187
13.4.2 Compensated Position Compare ..................................................................... 191
13.4.3 Time Spaced Pulses (Time Flasher) ............................................................... 194
13.4.4 AquadB Signals on PCO Connector ............................................................... 197
14.0 Control Loops ...................................................................................... 199
14.1 XPS Servo Loops ......................................................................................................... 199
14.1.1 Servo structure and Basics .............................................................................. 199
14.1.2 XPS PIDFF Architecture ................................................................................ 201
14.2 Filtering and Limitation ................................................................................................ 205
14.2.1 Current velocity and current acceleration ....................................................... 205
14.3 Feed Forward Loops and Servo Tuning ....................................................................... 206
14.3.1 Corrector = PIDFFVelocity ............................................................................ 206
14.3.2 Corrector = PIDFFAcceleration ..................................................................... 208
14.3.3 Corrector = PIDDual FFVoltage .................................................................... 210
14.3.4 Corrector = PIPosition .................................................................................... 211
15.0 Analog Encoder Calibration ............................................................... 213
16.0 Excitation Signal .................................................................................. 218
16.1 Introduction .................................................................................................................. 218
16.2 How to Use the Excitation-Signal Function ................................................................. 218
16.3 Group State Diagram .................................................................................................... 219
16.4 Function Description .................................................................................................... 219
17.0 Introduction to XPS Programming ................................................... 220
17.1 TCL Generator .............................................................................................................. 221
17.2 Principle of a TCL Script Redirection to a Telnet Session ........................................... 223
17.2.1 Principle of a Tcl Script Output Redirection to a Telnet Session ................... 223
17.2.2 Example of a Tcl Script Redirection to a telnet Session ................................. 223
17.3 Running Processes in Parallel ....................................................................................... 225
17.4 Documentation ............................................................................................................. 226
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XPS-RL Universal High-Performance Motion Controller/Driver
Appendix
18.0 Appendix A: Hardware....................................................................... 227
18.1 Controller ...................................................................................................................... 227
18.2 Rear Panel Connectors .................................................................................................. 228
18.3 Environmental Requirements ....................................................................................... 229
19.0 Appendix B: General I/O Description ............................................... 230
19.1 Basic GPIO – Digital I/O (GPIO1) ............................................................................... 230
19.1.1 Digital Inputs .................................................................................................. 230
19.1.2 Digital Outputs ............................................................................................... 230
19.1.3 GPIO1 Connector ........................................................................................... 231
19.2 Basic GPIO – Analog I/O (GPIO2) .............................................................................. 232
19.2.1 Analog Inputs ................................................................................................. 232
19.2.2 Analog Outputs ............................................................................................... 232
19.2.3 GPIO2 Connector ........................................................................................... 232
19.3 Extended GPIO – Digital I/O (GPIO3, GPIO5, GPIO6) .............................................. 233
19.3.1 Digital Inputs .................................................................................................. 233
19.3.2 Digital Outputs ............................................................................................... 234
19.3.3 GPIO3 Connector ........................................................................................... 235
19.3.4 GPIO5 Connector ........................................................................................... 236
19.3.5 GPIO6 Connector ........................................................................................... 237
19.4 Extended GPIO – Analog I/O (GPIO4) ........................................................................ 237
19.4.1 Analog Inputs ................................................................................................. 237
19.4.2 Analog Outputs ............................................................................................... 237
19.4.3 GPIO4 Connector ........................................................................................... 238
19.5 Digital Encoder Inputs (Driver Boards & DRV00P) .................................................... 238
19.6 Digital Servitudes (Driver Boards, DRV00P & Analog Encoders Connectors) ........... 239
19.7 Analog Encoder Inputs (Analog Encoder Connectors)................................................. 239
19.7.1 Analog Encoder Connector ............................................................................ 239
20.0 Appendix C: Power Inhibit Connector ............................................. 241
21.0 Appendix D: PCO Connector ............................................................. 242
22.0 Appendix E: Motor Driver Cards ...................................................... 244
22.1 DC and Stepper Motor Driver XPS-DRV01 ................................................................ 244
22.2 Three phase AC Brushless Driver XPS-DRV02 .......................................................... 246
22.3 DC Motor Driver XPS-DRV03 .................................................................................... 246
22.4 Pass-Through Board XPS-DRV00P ............................................................................. 247
22.5 Piezoelectric Stages Driver XPS-DRVP1 ..................................................................... 247
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23.0 Appendix F: Configuration Wizard .................................................. 248
23.1 Webpage Description ................................................................................................... 248
23.1.1 First Level Parameters .................................................................................... 249
23.1.2 Second Level Parameters ................................................................................ 250
23.1.3 Save and Run the Stage .................................................................................. 251
23.2 Encoder ......................................................................................................................... 253
23.2.1 No Encoder (NoEncoder) ............................................................................... 253
23.2.2 RS422 Differential (AquadB) ......................................................................... 253
23.2.3 RS422 Differential with 3 Encoders (AquadBTheta) PP version only ........... 254
23.2.4 Sine/Cosine 1 Vpp (AnalogInterpolated) ....................................................... 255
23.2.5 Sine/Cosine 1 Vpp (AnalogInterpolated Theta) PP version only ................... 258
23.3 Profiler .......................................................................................................................... 259
23.3.1 Type: Sgamma ................................................................................................ 259
23.4 Servitudes ..................................................................................................................... 261
23.4.1 No Servitudes (NoServitudes) ........................................................................ 261
23.4.2 Piezo ............................................................................................................... 261
23.4.3 Spindle ............................................................................................................ 262
23.4.4 Driver Board (StandardEORDriverPlug)........................................................ 262
23.4.5 Encoder Board (StandardLimitAndLimitEncoderPlug) ................................. 262
23.4.6 Encoder Board (StandardLimitAndHomeEncoderPlug) ................................ 263
23.5 Backlash ....................................................................................................................... 263
23.5.1 Type: Standard................................................................................................ 263
23.6 Home Search ................................................................................................................ 264
23.6.1 No Home Search (NoHomeSearch) ................................................................ 264
23.6.2 Mechanical Zero and Index (MechanicalZeroAndIndexHomeSearch) .......... 264
23.6.3 Mechanical Zero Only (MechanicalZeroHomeSearch) .................................. 265
23.6.4 MinusEndOfRunAndIndexHomeSearch ........................................................ 266
23.6.5 MinusEndOfRunHomeSearch ........................................................................ 266
23.6.6 PlusEndOfRunHomeSearch ........................................................................... 266
23.6.7 IndexHomeSearch .......................................................................................... 267
23.6.8 CurrentPositionAsHome ................................................................................. 267
23.7 Motion done .................................................................................................................. 267
23.7.1 Theoretical ...................................................................................................... 267
23.7.2 VelocityAndPositionWindow ......................................................................... 267
23.8 Corrector ....................................................................................................................... 268
23.8.1 NoCorrector .................................................................................................... 268
23.8.2 NoEncoderPosition ......................................................................................... 268
23.8.3 PIDDualFFVoltage ......................................................................................... 269
23.8.4 PIDFFAcceleration ......................................................................................... 274
23.8.5 PIDFFVelocity ............................................................................................... 279
23.8.6 PIPosition ....................................................................................................... 283
23.9 Motor Driver Interface .................................................................................................. 286
23.9.1 NoMotorInterface ........................................................................................... 287
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23.9.2
AnalogAcceleration ........................................................................................ 287
23.9.3 AnalogPosition ............................................................................................... 288
23.9.4 AnalogPositionPiezo ...................................................................................... 288
23.9.5 AnalogSin60Acceleration ............................................................................... 288
23.9.6 AnalogSin60AccelerationLMI ....................................................................... 290
23.9.7 AnalogDualSin60Acceleration ....................................................................... 290
23.9.8 AnalogDualSin60AccelerationLMI ................................................................ 292
23.9.9 AnalogSin90Acceleration ............................................................................... 292
23.9.10 AnalogSin90AccelerationLMI ....................................................................... 292
23.9.11 AnalogDualSin90Acceleration ....................................................................... 293
23.9.12 AnalogDualSin90AccelerationLMI ................................................................ 293
23.9.13 AnalogSin120Acceleration ............................................................................. 294
23.9.14 AnalogSin120AccelerationLMI ..................................................................... 294
23.9.15 AnalogDualSin120Acceleration ..................................................................... 295
23.9.16 AnalogDualSin120AccelerationLMI .............................................................. 295
23.9.17 AnalogStepperPosition ................................................................................... 296
23.9.18 AnalogVelocity ............................................................................................... 298
23.9.19 AnalogVoltage ................................................................................................ 299
23.9.20 DigitialStepperPosition ................................................................................... 302
23.10 Driver ............................................................................................................................ 303
23.10.1 No Driver (NoDriver) ..................................................................................... 304
23.10.2 NonConfigurableDriver .................................................................................. 304
23.10.3 DRV00 (for Non-Configurable External Driver) ........................................... 304
23.10.4 DRV00P ......................................................................................................... 304
23.10.5 DRV01AnalogStepperPosition (for stepper motors) ...................................... 305
23.10.6 DRV01AnalogVelocity (with tachometer feedback) ...................................... 306
23.10.7 DRV01AnalogVoltage (without tachometer feedback) .................................. 308
23.10.8 DRV02............................................................................................................ 308
23.10.9 DRV02P ......................................................................................................... 310
23.10.10 XPS-DRV03 for acceleration control (DRV03AnalogAcceleration) ............. 311
23.10.11 DRV03AnalogVelocity .................................................................................. 312
23.10.12 DRV03AnalogVoltage ................................................................................... 315
23.10.13 DRV03HAnalogAcceleration ......................................................................... 316
23.10.14 DRV03HAnalogVelocity ............................................................................... 316
23.10.15 DRV03HAnalogVoltage ................................................................................ 317
23.10.16 DRVM1AnalogVelocity ................................................................................. 317
23.10.17 DRVM2AnalogVelocity ................................................................................. 317
23.10.18 DRVM3AnalogVelocity ................................................................................. 317
23.10.19 DRVM4AnalogAcceleration .......................................................................... 317
23.10.20 DRVM5AnalogVelocity ................................................................................. 317
23.10.21 DRVP1AnalogPositionPiezo .......................................................................... 317
23.10.22 EDBL.............................................................................................................. 318
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23.11 Stage ............................................................................................................................. 319
23.11.1 Type: GenericInformation .............................................................................. 319
Service Form ...................................................................................................... 321
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XPS-RL Universal High-Performance Motion Controller/Driver
EU Declaration of Conformity
xiii EDH0365En1020 — 02/18
XPS-RL Universal High-Performance Motion Controller/Driver
Preface
Confidentiality & Proprietary Rights
Reservation of Title
The Newport Programs and all materials furnished or produced in connection with them
(“Related Materials”) contain trade secrets of Newport and are for use only in the
manner expressly permitted. Newport claims and reserves all rights and benefits
afforded under law in the Programs provided by Newport Corporation.
Newport shall retain full ownership of Intellectual Property Rights in and to all
development, process, align or assembly technologies developed and other derivative
work that may be developed by Newport. Customer shall not challenge, or cause any
third party to challenge, the rights of Newport.
Preservation of Secrecy and Confidentiality and Restrictions to Access
Customer shall protect the Newport Programs and Related Materials as trade secrets of
Newport, and shall devote its best efforts to ensure that all its personnel protect the
Newport Programs as trade secrets of Newport Corporation. Customer shall not at any
time disclose Newport's trade secrets to any other person, firm, organization, or
employee that does not need (consistent with Customer's right of use hereunder) to
obtain access to the Newport Programs and Related Materials. These restrictions shall
not apply to information (1) generally known to the public or obtainable from public
sources; (2) readily apparent from the keyboard operations, visual display, or output
reports of the Programs; (3) previously in the possession of Customer or subsequently
developed or acquired without reliance on the Newport Programs; or (4) approved by
Newport for release without restriction.
Sales, Tech Support & Service
North America & Asia
Newport Corporation
1791 Deere Ave.
Irvine, CA 92606, USA
Sales
Tel.: (877) 835-9620
e-mail: [email protected]
Technical Support
Tel.: (800) 222-6440
e-mail: tech@newport.com
Service, RMAs & Returns
Tel.: (800) 222-6440
e-mail: [email protected]
Europe
MICRO-CONTROLE Spectra-Physics S.A.S
9, rue du Bois Sauvage
91055 Évry CEDEX
France
Sales France
Tel.: +33 (0)1.60.91.68.68
e-mail: france@newport.com
Sales Germany
Tel.: +49 (0) 61 51 / 708 – 0
e-mail: germany@newport.com
Sales UK
Tel.: +44 (0)1635.521757
e-mail: uk@newport.com
Technical Support
e-mail: [email protected]
Service & Returns
Tel.: +33 (0)2.38.40.51.55
EDH0365En1020 — 02/18 xiv
XPS-RL Universal High-Performance Motion Controller/Driver
Service Information
The user should not attempt any maintenance or service of the XPS Series
Controller/Driver system beyond the procedures outlined in this manual. Any problem
that cannot be resolved should be referred to Newport Corporation. When calling
Newport regarding a problem, please provide the Tech Support representative with the
following information:
• Your contact information.
• System serial number or original order number.
• Description of problem.
• Environment in which the system is used.
• State of the system before the problem.
• Frequency and repeatability of problem.
• Can the product continue to operate with this problem?
• Can you identify anything that may have caused the problem?
Newport Corporation RMA Procedures
Any XPS Series Controller/Driver being returned to Newport must be assigned an RMA
number by Newport. Assignment of the RMA requires the item’s serial number.
Packaging
XPS Series Controller/Driver being returned under an RMA must be securely packaged
for shipment. If possible, re-use the original packaging.
xv EDH0365En1020 — 02/18
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EDH0365En1020 — 02/18 xvi
XPS-RL Controller User’s Manual
1.0 Introduction
1.1 Scope of the Manual
The XPS is an extremely high-performance, easy to use, integrated motion
controller/driver offering high-speed communication through 10/100/1000 Base-T
Ethernet, outstanding trajectory accuracy and powerful programming functionality. It
combines user-friendly web interfaces with advanced trajectory and synchronization
features to precisely control from the most basic to the most complex motion sequences.
Multiple digital and analog I/O's, triggers and supplemental encoder inputs provide
users with additional data acquisition, synchronization and control features that can
improve the most demanding motion applications.
To maximize the value of the XPS Controller/Driver system, it is important that users
become thoroughly familiar with available documentation:
The XPS Quick Start is delivered as a hard copy with the controller.
The XPS-RL User's Manual, Programmer’s and Software Drivers manuals are PDF files
accessible from the controller disk which can be downloaded from the controller
website under the tab Documentation.
.NET assemblies and corresponding sources are available from the controller disk
which can be downloaded from the controller website under the tab Documentation ->
Drivers & Examples.
LabVIEW VIs with examples are also available to download from the Newport website.
The first part of this manual serves as an introduction and also as a reference. It
includes:
1. Introduction
2. System Overview
3. Getting Started Guide
User’s Manual
1 EDH0365En1020 — 02/18
XPS-RL Controller User’s Manual
The second part provides a detailed description of all software tools of the XPS
controller. It also includes an introduction to FTP connections and some general
guidelines for troubleshooting, maintenance and service:
4. Software Tools
5. Maintenance and Service
The third part provides an exhaustive description of the XPS architecture, its features
and capabilities. Complementing the programmer’s guide, this part
is educational and is
organized by features starting with the basics and getting to the more advanced features.
It provides a complete list of descriptions of different features including:
6. XPS Architecture
7. Motion
8. Trajectories
9. Emergency Brake and Emergency Stop
10. Compensation
11. Event Triggers
12. Data Gathering
13. Output Triggers
14. Control Loops
15. Analog Encoder Calibration
16. Excitation Signal
17. 17. Pre-Corrector Excitation Signal
18. Introduction to XPS programming
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XPS-RL Controller User’s Manual
1.2 Definitions and Symbols
The following terms and symbols are used in this documentation and also appear on the
XPS Series Controller/Driver where safety-related issues occur.
1.2.1 General Warning or Caution
Figure 1: General warning or caution symbol.
The Exclamation Symbol in Figure 1 may appear in Warning and Caution tables in this
document. This symbol designates an area where personal injury or damage to the
equipment is possible.
1.2.2 Electric Shock
Figure 2: Electrical shock symbol.
The Electrical Shock Symbol in Figure 2 may appear on labels affixed to the XPS
Series Controller/Driver. This symbol indicates a hazard arising from dangerous
voltages. Any mishandling could result in damage to the equipment, personal injury, or
even death.
1.2.3 European Union CE Mark
Figure 3: CE mark.
The presence of the CE Mark on Newport Corporation equipment means that it has
been designed, tested and certified to comply with all current and applicable European
Union (CE) regulations and recommendations.
1.2.4 “ON” Symbol
Figure 4: “ON” symbol.
The “ON” Symbol in Figure 4 appears on the power switch of the XPS Series
Controller/Driver. This symbol represents the “Power On” condition.
1.2.5 “OFF” Symbol
Figure 5: “OFF” symbol.
The “Off” Symbol in Figure 5 appears on the power switch of the XPS Series
Controller/Driver. This symbol represents the “Power Off” condition.
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XPS-RL Controller User’s Manual
1.3 Warnings and Cautions
The following are definitions of the Warnings, Cautions and Notes that may be used in
this manual to call attention to important information regarding personal safety, safety
and preservation of the equipment, or important tips.
WARNING
Situation has the potential to cause bodily harm or death.
CAUTION
Situation has the potential to cause damage to property or
equipment.
WARNING
This product is equipped with a 3-wire grounding type plug. Any
interruption of the grounding connection can create an electric shock
hazard. If you are unable to insert the plug into your wall plug
receptacle, contact an electrician to perform the necessary alterations
to ensure that the green (green-yellow) wire is attached to earth
ground.
System earthing must be of type earthed neutral (TN-) as defined by
CEI60364.
NOTE
Additional information the user or operator should consider.
1.4 General Warnings and Cautions
The following general safety precautions must be observed during all phases of
operation of this equipment.
Failure to comply with these precautions or with specific warnings elsewhere in this
manual violates safety standards of design, manufacture, and the intended use of the
equipment.
• Heed all warnings on the unit and in the operating instructions.
• To prevent damage to the equipment, read the instructions in this manual for the
selection of the proper input voltage.
• Only plug the Controller/Driver unit into a grounded power outlet.
• Ensure that the equipment is properly grounded to earth ground through the
grounding lead of the AC power connector.
• Route power cords and cables where they are not likely to be damaged.
• Use Proper Power Cord
Use only the power cord specified for this product and certified for the country of
use.
• The system must be installed in such a way that the power switch and the power
connector remain accessible to the user.
• Disconnect or do not plug-in the AC power cord under the following conditions:
– If the AC power cord or any other attached cables are frayed or damaged.
– If the power plug or receptacle is damaged.
– If the unit is exposed to rain or excessive moisture, or liquids are spilled on it.
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